2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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128 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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129 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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130 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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132 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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144 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 pdTASK_HOOK_CODE pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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173 * Some kernel aware debuggers require the data the debugger needs access to to
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174 * be global, rather than file scope.
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176 #ifdef portREMOVE_STATIC_QUALIFIER
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180 /*lint -e956 A manual analysis and inspection has been used to determine which
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181 static variables must be declared volatile. */
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183 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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185 /* Lists for ready and blocked tasks. --------------------*/
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186 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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187 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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188 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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189 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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190 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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191 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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193 #if ( INCLUDE_vTaskDelete == 1 )
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195 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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200 #if ( INCLUDE_vTaskSuspend == 1 )
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202 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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208 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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212 /* Other file private variables. --------------------------------*/
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213 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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215 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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216 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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217 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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218 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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219 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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220 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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221 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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222 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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224 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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226 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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227 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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233 /* Debugging and trace facilities private variables and macros. ------------*/
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236 * The value used to fill the stack of a task when the task is created. This
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237 * is used purely for checking the high water mark for tasks.
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239 #define tskSTACK_FILL_BYTE ( 0xa5U )
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242 * Macros used by vListTask to indicate which state a task is in.
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244 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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245 #define tskREADY_CHAR ( ( signed char ) 'R' )
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246 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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247 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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249 /*-----------------------------------------------------------*/
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251 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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253 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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254 performed in a generic way that is not optimised to any particular
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255 microcontroller architecture. */
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257 /* uxTopReadyPriority holds the priority of the highest priority ready
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259 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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261 if( ( uxPriority ) > uxTopReadyPriority ) \
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263 uxTopReadyPriority = ( uxPriority ); \
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265 } /* taskRECORD_READY_PRIORITY */
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267 /*-----------------------------------------------------------*/
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269 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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271 /* Find the highest priority queue that contains ready tasks. */ \
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272 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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274 configASSERT( uxTopReadyPriority ); \
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275 --uxTopReadyPriority; \
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278 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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279 the same priority get an equal share of the processor time. */ \
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280 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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281 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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283 /*-----------------------------------------------------------*/
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285 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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286 they are only required when a port optimised method of task selection is
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288 #define taskRESET_READY_PRIORITY( uxPriority )
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289 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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291 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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293 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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294 performed in a way that is tailored to the particular microcontroller
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295 architecture being used. */
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297 /* A port optimised version is provided. Call the port defined macros. */
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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300 /*-----------------------------------------------------------*/
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302 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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304 unsigned portBASE_TYPE uxTopPriority; \
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306 /* Find the highest priority queue that contains ready tasks. */ \
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307 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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308 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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309 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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310 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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312 /*-----------------------------------------------------------*/
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314 /* A port optimised version is provided, call it only if the TCB being reset
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315 is being referenced from a ready list. If it is referenced from a delayed
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316 or suspended list then it won't be in a ready list. */
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317 #define taskRESET_READY_PRIORITY( uxPriority ) \
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319 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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321 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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325 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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327 /*-----------------------------------------------------------*/
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329 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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330 count overflows. */
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331 #define taskSWITCH_DELAYED_LISTS() \
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335 /* The delayed tasks list should be empty when the lists are switched. */ \
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336 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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338 pxTemp = pxDelayedTaskList; \
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339 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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340 pxOverflowDelayedTaskList = pxTemp; \
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341 xNumOfOverflows++; \
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343 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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345 /* The new current delayed list is empty. Set \
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346 xNextTaskUnblockTime to the maximum possible value so it is \
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347 extremely unlikely that the \
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348 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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349 there is an item in the delayed list. */ \
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350 xNextTaskUnblockTime = portMAX_DELAY; \
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354 /* The new current delayed list is not empty, get the value of \
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355 the item at the head of the delayed list. This is the time at \
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356 which the task at the head of the delayed list should be removed \
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357 from the Blocked state. */ \
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358 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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359 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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363 /*-----------------------------------------------------------*/
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366 * Place the task represented by pxTCB into the appropriate ready list for
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367 * the task. It is inserted at the end of the list.
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369 #define prvAddTaskToReadyList( pxTCB ) \
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370 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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371 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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372 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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373 /*-----------------------------------------------------------*/
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376 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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377 * where NULL is used to indicate that the handle of the currently executing
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378 * task should be used in place of the parameter. This macro simply checks to
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379 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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381 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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383 /* Callback function prototypes. --------------------------*/
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384 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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385 extern void vApplicationTickHook( void );
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387 /* File private functions. --------------------------------*/
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390 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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391 * into the TCB structure.
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393 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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396 * Utility to ready all the lists used by the scheduler. This is called
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397 * automatically upon the creation of the first task.
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399 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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402 * The idle task, which as all tasks is implemented as a never ending loop.
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403 * The idle task is automatically created and added to the ready lists upon
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404 * creation of the first user task.
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406 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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407 * language extensions. The equivalent prototype for this function is:
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409 * void prvIdleTask( void *pvParameters );
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412 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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415 * Utility to free all memory allocated by the scheduler to hold a TCB,
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416 * including the stack pointed to by the TCB.
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418 * This does not free memory allocated by the task itself (i.e. memory
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419 * allocated by calls to pvPortMalloc from within the tasks application code).
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421 #if ( INCLUDE_vTaskDelete == 1 )
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423 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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428 * Used only by the idle task. This checks to see if anything has been placed
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429 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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430 * and its TCB deleted.
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432 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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435 * The currently executing task is entering the Blocked state. Add the task to
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436 * either the current or the overflow delayed task list.
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438 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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441 * Allocates memory from the heap for a TCB and associated stack. Checks the
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442 * allocation was successful.
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444 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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447 * Fills an xTaskStatusType structure with information on each task that is
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448 * referenced from the pxList list (which may be a ready list, a delayed list,
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449 * a suspended list, etc.).
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451 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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452 * NORMAL APPLICATION CODE.
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454 #if ( configUSE_TRACE_FACILITY == 1 )
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456 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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461 * When a task is created, the stack of the task is filled with a known value.
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462 * This function determines the 'high water mark' of the task stack by
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463 * determining how much of the stack remains at the original preset value.
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465 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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467 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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472 * Return the amount of time, in ticks, that will pass before the kernel will
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473 * next move a task from the Blocked state to the Running state.
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475 * This conditional compilation should use inequality to 0, not equality to 1.
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476 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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477 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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478 * set to a value other than 1.
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480 #if ( configUSE_TICKLESS_IDLE != 0 )
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482 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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486 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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488 signed portBASE_TYPE xReturn;
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491 configASSERT( pxTaskCode );
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492 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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494 /* Allocate the memory required by the TCB and stack for the new task,
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495 checking that the allocation was successful. */
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496 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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498 if( pxNewTCB != NULL )
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500 portSTACK_TYPE *pxTopOfStack;
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502 #if( portUSING_MPU_WRAPPERS == 1 )
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503 /* Should the task be created in privileged mode? */
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504 portBASE_TYPE xRunPrivileged;
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505 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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507 xRunPrivileged = pdTRUE;
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511 xRunPrivileged = pdFALSE;
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513 uxPriority &= ~portPRIVILEGE_BIT;
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514 #endif /* portUSING_MPU_WRAPPERS == 1 */
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516 /* Calculate the top of stack address. This depends on whether the
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517 stack grows from high memory to low (as per the 80x86) or visa versa.
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518 portSTACK_GROWTH is used to make the result positive or negative as
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519 required by the port. */
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520 #if( portSTACK_GROWTH < 0 )
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522 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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523 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
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525 /* Check the alignment of the calculated top of stack is correct. */
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526 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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528 #else /* portSTACK_GROWTH */
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530 pxTopOfStack = pxNewTCB->pxStack;
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532 /* Check the alignment of the stack buffer is correct. */
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533 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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535 /* If we want to use stack checking on architectures that use
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536 a positive stack growth direction then we also need to store the
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537 other extreme of the stack space. */
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538 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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540 #endif /* portSTACK_GROWTH */
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542 /* Setup the newly allocated TCB with the initial state of the task. */
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543 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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545 /* Initialize the TCB stack to look as if the task was already running,
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546 but had been interrupted by the scheduler. The return address is set
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547 to the start of the task function. Once the stack has been initialised
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548 the top of stack variable is updated. */
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549 #if( portUSING_MPU_WRAPPERS == 1 )
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551 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
553 #else /* portUSING_MPU_WRAPPERS */
\r
555 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
557 #endif /* portUSING_MPU_WRAPPERS */
\r
559 if( ( void * ) pxCreatedTask != NULL )
\r
561 /* Pass the TCB out - in an anonymous way. The calling function/
\r
562 task can use this as a handle to delete the task later if
\r
564 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
567 /* Ensure interrupts don't access the task lists while they are being
\r
569 taskENTER_CRITICAL();
\r
571 uxCurrentNumberOfTasks++;
\r
572 if( pxCurrentTCB == NULL )
\r
574 /* There are no other tasks, or all the other tasks are in
\r
575 the suspended state - make this the current task. */
\r
576 pxCurrentTCB = pxNewTCB;
\r
578 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
580 /* This is the first task to be created so do the preliminary
\r
581 initialisation required. We will not recover if this call
\r
582 fails, but we will report the failure. */
\r
583 prvInitialiseTaskLists();
\r
588 /* If the scheduler is not already running, make this task the
\r
589 current task if it is the highest priority task to be created
\r
591 if( xSchedulerRunning == pdFALSE )
\r
593 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
595 pxCurrentTCB = pxNewTCB;
\r
602 #if ( configUSE_TRACE_FACILITY == 1 )
\r
604 /* Add a counter into the TCB for tracing only. */
\r
605 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
607 #endif /* configUSE_TRACE_FACILITY */
\r
608 traceTASK_CREATE( pxNewTCB );
\r
610 prvAddTaskToReadyList( pxNewTCB );
\r
613 portSETUP_TCB( pxNewTCB );
\r
615 taskEXIT_CRITICAL();
\r
619 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
620 traceTASK_CREATE_FAILED();
\r
623 if( xReturn == pdPASS )
\r
625 if( xSchedulerRunning != pdFALSE )
\r
627 /* If the created task is of a higher priority than the current task
\r
628 then it should run now. */
\r
629 if( pxCurrentTCB->uxPriority < uxPriority )
\r
631 taskYIELD_IF_USING_PREEMPTION();
\r
638 /*-----------------------------------------------------------*/
\r
640 #if ( INCLUDE_vTaskDelete == 1 )
\r
642 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
646 taskENTER_CRITICAL();
\r
648 /* If null is passed in here then we are deleting ourselves. */
\r
649 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
651 /* Remove task from the ready list and place in the termination list.
\r
652 This will stop the task from be scheduled. The idle task will check
\r
653 the termination list and free up any memory allocated by the
\r
654 scheduler for the TCB and stack. */
\r
655 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
657 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
660 /* Is the task waiting on an event also? */
\r
661 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
663 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
666 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
668 /* Increment the ucTasksDeleted variable so the idle task knows
\r
669 there is a task that has been deleted and that it should therefore
\r
670 check the xTasksWaitingTermination list. */
\r
673 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
674 can detect that the task lists need re-generating. */
\r
677 traceTASK_DELETE( pxTCB );
\r
679 taskEXIT_CRITICAL();
\r
681 /* Force a reschedule if we have just deleted the current task. */
\r
682 if( xSchedulerRunning != pdFALSE )
\r
684 if( pxTCB == pxCurrentTCB )
\r
686 portYIELD_WITHIN_API();
\r
691 #endif /* INCLUDE_vTaskDelete */
\r
692 /*-----------------------------------------------------------*/
\r
694 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
696 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
698 portTickType xTimeToWake;
\r
699 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
701 configASSERT( pxPreviousWakeTime );
\r
702 configASSERT( ( xTimeIncrement > 0U ) );
\r
706 /* Minor optimisation. The tick count cannot change in this
\r
708 const portTickType xConstTickCount = xTickCount;
\r
710 /* Generate the tick time at which the task wants to wake. */
\r
711 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
713 if( xConstTickCount < *pxPreviousWakeTime )
\r
715 /* The tick count has overflowed since this function was
\r
716 lasted called. In this case the only time we should ever
\r
717 actually delay is if the wake time has also overflowed,
\r
718 and the wake time is greater than the tick time. When this
\r
719 is the case it is as if neither time had overflowed. */
\r
720 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
722 xShouldDelay = pdTRUE;
\r
727 /* The tick time has not overflowed. In this case we will
\r
728 delay if either the wake time has overflowed, and/or the
\r
729 tick time is less than the wake time. */
\r
730 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
732 xShouldDelay = pdTRUE;
\r
736 /* Update the wake time ready for the next call. */
\r
737 *pxPreviousWakeTime = xTimeToWake;
\r
739 if( xShouldDelay != pdFALSE )
\r
741 traceTASK_DELAY_UNTIL();
\r
743 /* We must remove ourselves from the ready list before adding
\r
744 ourselves to the blocked list as the same list item is used for
\r
746 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
748 /* The current task must be in a ready list, so there is
\r
749 no need to check, and the port reset macro can be called
\r
751 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
754 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
757 xAlreadyYielded = xTaskResumeAll();
\r
759 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
760 have put ourselves to sleep. */
\r
761 if( xAlreadyYielded == pdFALSE )
\r
763 portYIELD_WITHIN_API();
\r
767 #endif /* INCLUDE_vTaskDelayUntil */
\r
768 /*-----------------------------------------------------------*/
\r
770 #if ( INCLUDE_vTaskDelay == 1 )
\r
772 void vTaskDelay( portTickType xTicksToDelay )
\r
774 portTickType xTimeToWake;
\r
775 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
777 /* A delay time of zero just forces a reschedule. */
\r
778 if( xTicksToDelay > ( portTickType ) 0U )
\r
784 /* A task that is removed from the event list while the
\r
785 scheduler is suspended will not get placed in the ready
\r
786 list or removed from the blocked list until the scheduler
\r
789 This task cannot be in an event list as it is the currently
\r
792 /* Calculate the time to wake - this may overflow but this is
\r
794 xTimeToWake = xTickCount + xTicksToDelay;
\r
796 /* We must remove ourselves from the ready list before adding
\r
797 ourselves to the blocked list as the same list item is used for
\r
799 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
801 /* The current task must be in a ready list, so there is
\r
802 no need to check, and the port reset macro can be called
\r
804 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
806 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
808 xAlreadyYielded = xTaskResumeAll();
\r
811 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
812 have put ourselves to sleep. */
\r
813 if( xAlreadyYielded == pdFALSE )
\r
815 portYIELD_WITHIN_API();
\r
819 #endif /* INCLUDE_vTaskDelay */
\r
820 /*-----------------------------------------------------------*/
\r
822 #if ( INCLUDE_eTaskGetState == 1 )
\r
824 eTaskState eTaskGetState( xTaskHandle xTask )
\r
826 eTaskState eReturn;
\r
827 xList *pxStateList;
\r
828 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
830 if( pxTCB == pxCurrentTCB )
\r
832 /* The task calling this function is querying its own state. */
\r
833 eReturn = eRunning;
\r
837 taskENTER_CRITICAL();
\r
839 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
841 taskEXIT_CRITICAL();
\r
843 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
845 /* The task being queried is referenced from one of the Blocked
\r
847 eReturn = eBlocked;
\r
850 #if ( INCLUDE_vTaskSuspend == 1 )
\r
851 else if( pxStateList == &xSuspendedTaskList )
\r
853 /* The task being queried is referenced from the suspended
\r
854 list. Is it genuinely suspended or is it block
\r
856 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
858 eReturn = eSuspended;
\r
862 eReturn = eBlocked;
\r
867 #if ( INCLUDE_vTaskDelete == 1 )
\r
868 else if( pxStateList == &xTasksWaitingTermination )
\r
870 /* The task being queried is referenced from the deleted
\r
872 eReturn = eDeleted;
\r
878 /* If the task is not in any other state, it must be in the
\r
879 Ready (including pending ready) state. */
\r
887 #endif /* INCLUDE_eTaskGetState */
\r
888 /*-----------------------------------------------------------*/
\r
890 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
892 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
895 unsigned portBASE_TYPE uxReturn;
\r
897 taskENTER_CRITICAL();
\r
899 /* If null is passed in here then we are changing the
\r
900 priority of the calling function. */
\r
901 pxTCB = prvGetTCBFromHandle( xTask );
\r
902 uxReturn = pxTCB->uxPriority;
\r
904 taskEXIT_CRITICAL();
\r
909 #endif /* INCLUDE_uxTaskPriorityGet */
\r
910 /*-----------------------------------------------------------*/
\r
912 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
914 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
917 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
918 portBASE_TYPE xYieldRequired = pdFALSE;
\r
920 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
922 /* Ensure the new priority is valid. */
\r
923 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
925 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
928 taskENTER_CRITICAL();
\r
930 /* If null is passed in here then it is the priority of the calling
\r
931 task that is being changed. */
\r
932 pxTCB = prvGetTCBFromHandle( xTask );
\r
934 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
936 #if ( configUSE_MUTEXES == 1 )
\r
938 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
942 uxCurrentBasePriority = pxTCB->uxPriority;
\r
946 if( uxCurrentBasePriority != uxNewPriority )
\r
948 /* The priority change may have readied a task of higher
\r
949 priority than the calling task. */
\r
950 if( uxNewPriority > uxCurrentBasePriority )
\r
952 if( pxTCB != pxCurrentTCB )
\r
954 /* The priority of a task other than the currently
\r
955 running task is being raised. Is the priority being
\r
956 raised above that of the running task? */
\r
957 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
959 xYieldRequired = pdTRUE;
\r
964 /* The priority of the running task is being raised,
\r
965 but the running task must already be the highest
\r
966 priority task able to run so no yield is required. */
\r
969 else if( pxTCB == pxCurrentTCB )
\r
971 /* Setting the priority of the running task down means
\r
972 there may now be another task of higher priority that
\r
973 is ready to execute. */
\r
974 xYieldRequired = pdTRUE;
\r
978 /* Setting the priority of any other task down does not
\r
979 require a yield as the running task must be above the
\r
980 new priority of the task being modified. */
\r
983 /* Remember the ready list the task might be referenced from
\r
984 before its uxPriority member is changed so the
\r
985 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
986 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
988 #if ( configUSE_MUTEXES == 1 )
\r
990 /* Only change the priority being used if the task is not
\r
991 currently using an inherited priority. */
\r
992 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
994 pxTCB->uxPriority = uxNewPriority;
\r
997 /* The base priority gets set whatever. */
\r
998 pxTCB->uxBasePriority = uxNewPriority;
\r
1002 pxTCB->uxPriority = uxNewPriority;
\r
1006 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1008 /* If the task is in the blocked or suspended list we need do
\r
1009 nothing more than change it's priority variable. However, if
\r
1010 the task is in a ready list it needs to be removed and placed
\r
1011 in the list appropriate to its new priority. */
\r
1012 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1014 /* The task is currently in its ready list - remove before adding
\r
1015 it to it's new ready list. As we are in a critical section we
\r
1016 can do this even if the scheduler is suspended. */
\r
1017 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1019 /* It is known that the task is in its ready list so
\r
1020 there is no need to check again and the port level
\r
1021 reset macro can be called directly. */
\r
1022 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1024 prvAddTaskToReadyList( pxTCB );
\r
1027 if( xYieldRequired == pdTRUE )
\r
1029 taskYIELD_IF_USING_PREEMPTION();
\r
1032 /* Remove compiler warning about unused variables when the port
\r
1033 optimised task selection is not being used. */
\r
1034 ( void ) uxPriorityUsedOnEntry;
\r
1037 taskEXIT_CRITICAL();
\r
1040 #endif /* INCLUDE_vTaskPrioritySet */
\r
1041 /*-----------------------------------------------------------*/
\r
1043 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1045 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1049 taskENTER_CRITICAL();
\r
1051 /* If null is passed in here then it is the running task that is
\r
1052 being suspended. */
\r
1053 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1055 traceTASK_SUSPEND( pxTCB );
\r
1057 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1058 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1060 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1063 /* Is the task waiting on an event also? */
\r
1064 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1066 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1069 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1071 taskEXIT_CRITICAL();
\r
1073 if( pxTCB == pxCurrentTCB )
\r
1075 if( xSchedulerRunning != pdFALSE )
\r
1077 /* The current task has just been suspended. */
\r
1078 portYIELD_WITHIN_API();
\r
1082 /* The scheduler is not running, but the task that was pointed
\r
1083 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1084 must be adjusted to point to a different task. */
\r
1085 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1087 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1088 NULL so when the next task is created pxCurrentTCB will
\r
1089 be set to point to it no matter what its relative priority
\r
1091 pxCurrentTCB = NULL;
\r
1095 vTaskSwitchContext();
\r
1101 #endif /* INCLUDE_vTaskSuspend */
\r
1102 /*-----------------------------------------------------------*/
\r
1104 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1106 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1108 portBASE_TYPE xReturn = pdFALSE;
\r
1109 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1111 /* It does not make sense to check if the calling task is suspended. */
\r
1112 configASSERT( xTask );
\r
1114 /* Is the task we are attempting to resume actually in the
\r
1115 suspended list? */
\r
1116 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1118 /* Has the task already been resumed from within an ISR? */
\r
1119 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1121 /* Is it in the suspended list because it is in the
\r
1122 Suspended state? It is possible to be in the suspended
\r
1123 list because it is blocked on a task with no timeout
\r
1125 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1133 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1135 #endif /* INCLUDE_vTaskSuspend */
\r
1136 /*-----------------------------------------------------------*/
\r
1138 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1140 void vTaskResume( xTaskHandle xTaskToResume )
\r
1142 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1144 /* It does not make sense to resume the calling task. */
\r
1145 configASSERT( xTaskToResume );
\r
1147 /* The parameter cannot be NULL as it is impossible to resume the
\r
1148 currently executing task. */
\r
1149 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1151 taskENTER_CRITICAL();
\r
1153 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1155 traceTASK_RESUME( pxTCB );
\r
1157 /* As we are in a critical section we can access the ready
\r
1158 lists even if the scheduler is suspended. */
\r
1159 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1160 prvAddTaskToReadyList( pxTCB );
\r
1162 /* We may have just resumed a higher priority task. */
\r
1163 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1165 /* This yield may not cause the task just resumed to run,
\r
1166 but will leave the lists in the correct state for the
\r
1168 taskYIELD_IF_USING_PREEMPTION();
\r
1172 taskEXIT_CRITICAL();
\r
1176 #endif /* INCLUDE_vTaskSuspend */
\r
1178 /*-----------------------------------------------------------*/
\r
1180 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1182 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1184 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1185 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1186 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1188 configASSERT( xTaskToResume );
\r
1190 /* RTOS ports that support interrupt nesting have the concept of a
\r
1191 maximum system call (or maximum API call) interrupt priority.
\r
1192 Interrupts that are above the maximum system call priority are keep
\r
1193 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1194 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1195 is defined in FreeRTOSConfig.h then
\r
1196 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1197 failure if a FreeRTOS API function is called from an interrupt that has
\r
1198 been assigned a priority above the configured maximum system call
\r
1199 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1200 from interrupts that have been assigned a priority at or (logically)
\r
1201 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1202 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1203 simple as possible. More information (albeit Cortex-M specific) is
\r
1204 provided on the following link:
\r
1205 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1206 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1208 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1210 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1212 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1214 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1216 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1218 xYieldRequired = pdTRUE;
\r
1221 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1222 prvAddTaskToReadyList( pxTCB );
\r
1226 /* We cannot access the delayed or ready lists, so will hold this
\r
1227 task pending until the scheduler is resumed, at which point a
\r
1228 yield will be performed if necessary. */
\r
1229 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1233 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1235 return xYieldRequired;
\r
1238 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1239 /*-----------------------------------------------------------*/
\r
1241 void vTaskStartScheduler( void )
\r
1243 portBASE_TYPE xReturn;
\r
1245 /* Add the idle task at the lowest priority. */
\r
1246 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1248 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1249 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1250 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1254 /* Create the idle task without storing its handle. */
\r
1255 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1257 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1259 #if ( configUSE_TIMERS == 1 )
\r
1261 if( xReturn == pdPASS )
\r
1263 xReturn = xTimerCreateTimerTask();
\r
1266 #endif /* configUSE_TIMERS */
\r
1268 if( xReturn == pdPASS )
\r
1270 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1271 before or during the call to xPortStartScheduler(). The stacks of
\r
1272 the created tasks contain a status word with interrupts switched on
\r
1273 so interrupts will automatically get re-enabled when the first task
\r
1275 portDISABLE_INTERRUPTS();
\r
1277 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1279 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1280 structure specific to the task that will run first. */
\r
1281 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1283 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1285 xSchedulerRunning = pdTRUE;
\r
1286 xTickCount = ( portTickType ) 0U;
\r
1288 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1289 macro must be defined to configure the timer/counter used to generate
\r
1290 the run time counter time base. */
\r
1291 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1293 /* Setting up the timer tick is hardware specific and thus in the
\r
1294 portable interface. */
\r
1295 if( xPortStartScheduler() != pdFALSE )
\r
1297 /* Should not reach here as if the scheduler is running the
\r
1298 function will not return. */
\r
1302 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1307 /* This line will only be reached if the kernel could not be started,
\r
1308 because there was not enough FreeRTOS heap to create the idle task
\r
1309 or the timer task. */
\r
1310 configASSERT( xReturn );
\r
1313 /*-----------------------------------------------------------*/
\r
1315 void vTaskEndScheduler( void )
\r
1317 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1318 routine so the original ISRs can be restored if necessary. The port
\r
1319 layer must ensure interrupts enable bit is left in the correct state. */
\r
1320 portDISABLE_INTERRUPTS();
\r
1321 xSchedulerRunning = pdFALSE;
\r
1322 vPortEndScheduler();
\r
1324 /*----------------------------------------------------------*/
\r
1326 void vTaskSuspendAll( void )
\r
1328 /* A critical section is not required as the variable is of type
\r
1329 portBASE_TYPE. Please read Richard Barry's reply in the following link to a
\r
1330 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1331 http://goo.gl/wu4acr */
\r
1332 ++uxSchedulerSuspended;
\r
1334 /*----------------------------------------------------------*/
\r
1336 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1338 static portTickType prvGetExpectedIdleTime( void )
\r
1340 portTickType xReturn;
\r
1342 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1346 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1348 /* There are other idle priority tasks in the ready state. If
\r
1349 time slicing is used then the very next tick interrupt must be
\r
1355 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1361 #endif /* configUSE_TICKLESS_IDLE */
\r
1362 /*----------------------------------------------------------*/
\r
1364 signed portBASE_TYPE xTaskResumeAll( void )
\r
1367 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1369 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1370 previous call to vTaskSuspendAll(). */
\r
1371 configASSERT( uxSchedulerSuspended );
\r
1373 /* It is possible that an ISR caused a task to be removed from an event
\r
1374 list while the scheduler was suspended. If this was the case then the
\r
1375 removed task will have been added to the xPendingReadyList. Once the
\r
1376 scheduler has been resumed it is safe to move all the pending ready
\r
1377 tasks from this list into their appropriate ready list. */
\r
1378 taskENTER_CRITICAL();
\r
1380 --uxSchedulerSuspended;
\r
1382 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1384 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1386 /* Move any readied tasks from the pending list into the
\r
1387 appropriate ready list. */
\r
1388 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1390 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1391 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1392 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1393 prvAddTaskToReadyList( pxTCB );
\r
1395 /* If we have moved a task that has a priority higher than
\r
1396 the current task then we should yield. */
\r
1397 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1399 xYieldPending = pdTRUE;
\r
1403 /* If any ticks occurred while the scheduler was suspended then
\r
1404 they should be processed now. This ensures the tick count does not
\r
1405 slip, and that any delayed tasks are resumed at the correct time. */
\r
1406 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1408 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1410 if( xTaskIncrementTick() != pdFALSE )
\r
1412 xYieldPending = pdTRUE;
\r
1418 if( xYieldPending == pdTRUE )
\r
1420 #if( configUSE_PREEMPTION != 0 )
\r
1422 xAlreadyYielded = pdTRUE;
\r
1425 taskYIELD_IF_USING_PREEMPTION();
\r
1430 taskEXIT_CRITICAL();
\r
1432 return xAlreadyYielded;
\r
1434 /*-----------------------------------------------------------*/
\r
1436 portTickType xTaskGetTickCount( void )
\r
1438 portTickType xTicks;
\r
1440 /* Critical section required if running on a 16 bit processor. */
\r
1441 taskENTER_CRITICAL();
\r
1443 xTicks = xTickCount;
\r
1445 taskEXIT_CRITICAL();
\r
1449 /*-----------------------------------------------------------*/
\r
1451 portTickType xTaskGetTickCountFromISR( void )
\r
1453 portTickType xReturn;
\r
1454 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1456 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1457 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1458 above the maximum system call priority are keep permanently enabled, even
\r
1459 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1460 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1461 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1462 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1463 assigned a priority above the configured maximum system call priority.
\r
1464 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1465 that have been assigned a priority at or (logically) below the maximum
\r
1466 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1467 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1468 More information (albeit Cortex-M specific) is provided on the following
\r
1469 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1470 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1472 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1473 xReturn = xTickCount;
\r
1474 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1478 /*-----------------------------------------------------------*/
\r
1480 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1482 /* A critical section is not required because the variables are of type
\r
1484 return uxCurrentNumberOfTasks;
\r
1486 /*-----------------------------------------------------------*/
\r
1488 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1490 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1494 /* If null is passed in here then the name of the calling task is being queried. */
\r
1495 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1496 configASSERT( pxTCB );
\r
1497 return &( pxTCB->pcTaskName[ 0 ] );
\r
1500 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1501 /*-----------------------------------------------------------*/
\r
1503 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1505 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1507 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1509 vTaskSuspendAll();
\r
1511 /* Is there a space in the array for each task in the system? */
\r
1512 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1514 /* Fill in an xTaskStatusType structure with information on each
\r
1515 task in the Ready state. */
\r
1519 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1521 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1523 /* Fill in an xTaskStatusType structure with information on each
\r
1524 task in the Blocked state. */
\r
1525 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1526 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1528 #if( INCLUDE_vTaskDelete == 1 )
\r
1530 /* Fill in an xTaskStatusType structure with information on
\r
1531 each task that has been deleted but not yet cleaned up. */
\r
1532 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1536 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1538 /* Fill in an xTaskStatusType structure with information on
\r
1539 each task in the Suspended state. */
\r
1540 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1544 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1546 if( pulTotalRunTime != NULL )
\r
1548 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1549 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1551 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1557 if( pulTotalRunTime != NULL )
\r
1559 *pulTotalRunTime = 0;
\r
1565 ( void ) xTaskResumeAll();
\r
1570 #endif /* configUSE_TRACE_FACILITY */
\r
1571 /*----------------------------------------------------------*/
\r
1573 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1575 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1577 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1578 started, then xIdleTaskHandle will be NULL. */
\r
1579 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1580 return xIdleTaskHandle;
\r
1583 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1584 /*----------------------------------------------------------*/
\r
1586 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1587 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1588 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1590 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1592 void vTaskStepTick( portTickType xTicksToJump )
\r
1594 /* Correct the tick count value after a period during which the tick
\r
1595 was suppressed. Note this does *not* call the tick hook function for
\r
1596 each stepped tick. */
\r
1597 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1598 xTickCount += xTicksToJump;
\r
1599 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1602 #endif /* configUSE_TICKLESS_IDLE */
\r
1603 /*----------------------------------------------------------*/
\r
1605 portBASE_TYPE xTaskIncrementTick( void )
\r
1608 portTickType xItemValue;
\r
1609 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1611 /* Called by the portable layer each time a tick interrupt occurs.
\r
1612 Increments the tick then checks to see if the new tick value will cause any
\r
1613 tasks to be unblocked. */
\r
1614 traceTASK_INCREMENT_TICK( xTickCount );
\r
1615 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1617 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1618 delayed lists if it wraps to 0. */
\r
1622 /* Minor optimisation. The tick count cannot change in this
\r
1624 const portTickType xConstTickCount = xTickCount;
\r
1626 if( xConstTickCount == ( portTickType ) 0U )
\r
1628 taskSWITCH_DELAYED_LISTS();
\r
1631 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1632 queue in the order of their wake time - meaning once one tasks has been
\r
1633 found whose block time has not expired there is no need not look any
\r
1634 further down the list. */
\r
1635 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1639 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1641 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1642 the maximum possible value so it is extremely unlikely that
\r
1643 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1644 next time through. */
\r
1645 xNextTaskUnblockTime = portMAX_DELAY;
\r
1650 /* The delayed list is not empty, get the value of the item
\r
1651 at the head of the delayed list. This is the time at which
\r
1652 the task at the head of the delayed list must be removed
\r
1653 from the Blocked state. */
\r
1654 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1655 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1657 if( xConstTickCount < xItemValue )
\r
1659 /* It is not time to unblock this item yet, but the item
\r
1660 value is the time at which the task at the head of the
\r
1661 blocked list must be removed from the Blocked state -
\r
1662 so record the item value in xNextTaskUnblockTime. */
\r
1663 xNextTaskUnblockTime = xItemValue;
\r
1667 /* It is time to remove the item from the Blocked state. */
\r
1668 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1670 /* Is the task waiting on an event also? If so remove it
\r
1671 from the event list. */
\r
1672 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1674 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1677 /* Place the unblocked task into the appropriate ready
\r
1679 prvAddTaskToReadyList( pxTCB );
\r
1681 /* A task being unblocked cannot cause an immediate context
\r
1682 switch if preemption is turned off. */
\r
1683 #if ( configUSE_PREEMPTION == 1 )
\r
1685 /* Preemption is on, but a context switch should only
\r
1686 be performed if the unblocked task has a priority that
\r
1687 is equal to or higher than the currently executing
\r
1689 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1691 xSwitchRequired = pdTRUE;
\r
1694 #endif /* configUSE_PREEMPTION */
\r
1700 /* Tasks of equal priority to the currently running task will share
\r
1701 processing time (time slice) if preemption is on, and the application
\r
1702 writer has not explicitly turned time slicing off. */
\r
1703 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1705 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1707 xSwitchRequired = pdTRUE;
\r
1710 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1712 #if ( configUSE_TICK_HOOK == 1 )
\r
1714 /* Guard against the tick hook being called when the pended tick
\r
1715 count is being unwound (when the scheduler is being unlocked). */
\r
1716 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1718 vApplicationTickHook();
\r
1721 #endif /* configUSE_TICK_HOOK */
\r
1727 /* The tick hook gets called at regular intervals, even if the
\r
1728 scheduler is locked. */
\r
1729 #if ( configUSE_TICK_HOOK == 1 )
\r
1731 vApplicationTickHook();
\r
1736 #if ( configUSE_PREEMPTION == 1 )
\r
1738 if( xYieldPending != pdFALSE )
\r
1740 xSwitchRequired = pdTRUE;
\r
1743 #endif /* configUSE_PREEMPTION */
\r
1745 return xSwitchRequired;
\r
1747 /*-----------------------------------------------------------*/
\r
1749 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1751 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1755 /* If xTask is NULL then we are setting our own task hook. */
\r
1756 if( xTask == NULL )
\r
1758 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1762 xTCB = ( tskTCB * ) xTask;
\r
1765 /* Save the hook function in the TCB. A critical section is required as
\r
1766 the value can be accessed from an interrupt. */
\r
1767 taskENTER_CRITICAL();
\r
1768 xTCB->pxTaskTag = pxHookFunction;
\r
1769 taskEXIT_CRITICAL();
\r
1772 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1773 /*-----------------------------------------------------------*/
\r
1775 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1777 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1780 pdTASK_HOOK_CODE xReturn;
\r
1782 /* If xTask is NULL then we are setting our own task hook. */
\r
1783 if( xTask == NULL )
\r
1785 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1789 xTCB = ( tskTCB * ) xTask;
\r
1792 /* Save the hook function in the TCB. A critical section is required as
\r
1793 the value can be accessed from an interrupt. */
\r
1794 taskENTER_CRITICAL();
\r
1795 xReturn = xTCB->pxTaskTag;
\r
1796 taskEXIT_CRITICAL();
\r
1801 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1802 /*-----------------------------------------------------------*/
\r
1804 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1806 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1809 portBASE_TYPE xReturn;
\r
1811 /* If xTask is NULL then we are calling our own task hook. */
\r
1812 if( xTask == NULL )
\r
1814 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1818 xTCB = ( tskTCB * ) xTask;
\r
1821 if( xTCB->pxTaskTag != NULL )
\r
1823 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1833 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1834 /*-----------------------------------------------------------*/
\r
1836 void vTaskSwitchContext( void )
\r
1838 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1840 /* The scheduler is currently suspended - do not allow a context
\r
1842 xYieldPending = pdTRUE;
\r
1846 xYieldPending = pdFALSE;
\r
1847 traceTASK_SWITCHED_OUT();
\r
1849 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1851 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1852 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1854 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1857 /* Add the amount of time the task has been running to the
\r
1858 accumulated time so far. The time the task started running was
\r
1859 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1860 protection here so count values are only valid until the timer
\r
1861 overflows. The guard against negative values is to protect
\r
1862 against suspect run time stat counter implementations - which
\r
1863 are provided by the application, not the kernel. */
\r
1864 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1866 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1868 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1870 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1872 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1873 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1875 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1877 traceTASK_SWITCHED_IN();
\r
1879 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1881 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1882 structure specific to this task. */
\r
1883 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1885 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1888 /*-----------------------------------------------------------*/
\r
1890 void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
\r
1892 portTickType xTimeToWake;
\r
1894 configASSERT( pxEventList );
\r
1896 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1897 SCHEDULER SUSPENDED. */
\r
1899 /* Place the event list item of the TCB in the appropriate event list.
\r
1900 This is placed in the list in priority order so the highest priority task
\r
1901 is the first to be woken by the event. */
\r
1902 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1904 /* We must remove ourselves from the ready list before adding ourselves
\r
1905 to the blocked list as the same list item is used for both lists. We have
\r
1906 exclusive access to the ready lists as the scheduler is locked. */
\r
1907 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1909 /* The current task must be in a ready list, so there is no need to
\r
1910 check, and the port reset macro can be called directly. */
\r
1911 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1914 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1916 if( xTicksToWait == portMAX_DELAY )
\r
1918 /* Add ourselves to the suspended task list instead of a delayed task
\r
1919 list to ensure we are not woken by a timing event. We will block
\r
1921 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1925 /* Calculate the time at which the task should be woken if the event does
\r
1926 not occur. This may overflow but this doesn't matter. */
\r
1927 xTimeToWake = xTickCount + xTicksToWait;
\r
1928 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1931 #else /* INCLUDE_vTaskSuspend */
\r
1933 /* Calculate the time at which the task should be woken if the event does
\r
1934 not occur. This may overflow but this doesn't matter. */
\r
1935 xTimeToWake = xTickCount + xTicksToWait;
\r
1936 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1938 #endif /* INCLUDE_vTaskSuspend */
\r
1940 /*-----------------------------------------------------------*/
\r
1942 void vTaskPlaceOnUnorderedEventList( xList * pxEventList, portTickType xItemValue, portTickType xTicksToWait )
\r
1944 portTickType xTimeToWake;
\r
1946 configASSERT( pxEventList );
\r
1948 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1949 SCHEDULER SUSPENDED. */
\r
1951 /* Store the item value in the event list item. */
\r
1952 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue );
\r
1954 /* Place the event list item of the TCB at the end of the appropriate event
\r
1956 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1958 /* The task must be removed from the ready list before it is added to the
\r
1959 blocked list. Exclusive access can be assured to the ready list as the
\r
1960 scheduler is locked. */
\r
1961 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1963 /* The current task must be in a ready list, so there is no need to
\r
1964 check, and the port reset macro can be called directly. */
\r
1965 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1968 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1970 if( xTicksToWait == portMAX_DELAY )
\r
1972 /* Add the task to the suspended task list instead of a delayed task
\r
1973 list to ensure it is not woken by a timing event. It will block
\r
1975 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1979 /* Calculate the time at which the task should be woken if the event does
\r
1980 not occur. This may overflow but this doesn't matter. */
\r
1981 xTimeToWake = xTickCount + xTicksToWait;
\r
1982 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1985 #else /* INCLUDE_vTaskSuspend */
\r
1987 /* Calculate the time at which the task should be woken if the event does
\r
1988 not occur. This may overflow but this doesn't matter. */
\r
1989 xTimeToWake = xTickCount + xTicksToWait;
\r
1990 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1992 #endif /* INCLUDE_vTaskSuspend */
\r
1994 /*-----------------------------------------------------------*/
\r
1996 #if configUSE_TIMERS == 1
\r
1998 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
2000 portTickType xTimeToWake;
\r
2002 configASSERT( pxEventList );
\r
2004 /* This function should not be called by application code hence the
\r
2005 'Restricted' in its name. It is not part of the public API. It is
\r
2006 designed for use by kernel code, and has special calling requirements -
\r
2007 it should be called from a critical section. */
\r
2010 /* Place the event list item of the TCB in the appropriate event list.
\r
2011 In this case it is assume that this is the only task that is going to
\r
2012 be waiting on this event list, so the faster vListInsertEnd() function
\r
2013 can be used in place of vListInsert. */
\r
2014 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2016 /* We must remove this task from the ready list before adding it to the
\r
2017 blocked list as the same list item is used for both lists. This
\r
2018 function is called form a critical section. */
\r
2019 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2021 /* The current task must be in a ready list, so there is no need to
\r
2022 check, and the port reset macro can be called directly. */
\r
2023 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2026 /* Calculate the time at which the task should be woken if the event does
\r
2027 not occur. This may overflow but this doesn't matter. */
\r
2028 xTimeToWake = xTickCount + xTicksToWait;
\r
2030 traceTASK_DELAY_UNTIL();
\r
2031 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2034 #endif /* configUSE_TIMERS */
\r
2035 /*-----------------------------------------------------------*/
\r
2037 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
2039 tskTCB *pxUnblockedTCB;
\r
2040 portBASE_TYPE xReturn;
\r
2042 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2043 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2045 /* The event list is sorted in priority order, so we can remove the
\r
2046 first in the list, remove the TCB from the delayed list, and add
\r
2047 it to the ready list.
\r
2049 If an event is for a queue that is locked then this function will never
\r
2050 get called - the lock count on the queue will get modified instead. This
\r
2051 means we can always expect exclusive access to the event list here.
\r
2053 This function assumes that a check has already been made to ensure that
\r
2054 pxEventList is not empty. */
\r
2055 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2056 configASSERT( pxUnblockedTCB );
\r
2057 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2059 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2061 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2062 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2066 /* We cannot access the delayed or ready lists, so will hold this
\r
2067 task pending until the scheduler is resumed. */
\r
2068 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2071 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2073 /* Return true if the task removed from the event list has
\r
2074 a higher priority than the calling task. This allows
\r
2075 the calling task to know if it should force a context
\r
2079 /* Mark that a yield is pending in case the user is not using the
\r
2080 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2081 xYieldPending = pdTRUE;
\r
2085 xReturn = pdFALSE;
\r
2090 /*-----------------------------------------------------------*/
\r
2092 signed portBASE_TYPE xTaskRemoveFromUnorderedEventList( xListItem * pxEventListItem, portTickType xItemValue )
\r
2094 tskTCB *pxUnblockedTCB;
\r
2095 portBASE_TYPE xReturn;
\r
2097 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2098 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2100 /* Store the new item value in the event list. */
\r
2101 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue );
\r
2103 /* Remove the TCB from the delayed list, and add it to the ready list. */
\r
2105 pxUnblockedTCB = ( tskTCB * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2106 configASSERT( pxUnblockedTCB );
\r
2107 ( void ) uxListRemove( pxEventListItem );
\r
2109 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2111 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2112 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2116 /* Cannot access the delayed or ready lists, so will hold this task
\r
2117 pending until the scheduler is resumed. */
\r
2118 vListInsertEnd( &( xPendingReadyList ), pxEventListItem );
\r
2121 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2123 /* Return true if the task removed from the event list has
\r
2124 a higher priority than the calling task. This allows
\r
2125 the calling task to know if it should force a context
\r
2129 /* Mark that a yield is pending in case the user is not using the
\r
2130 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2131 xYieldPending = pdTRUE;
\r
2135 xReturn = pdFALSE;
\r
2140 /*-----------------------------------------------------------*/
\r
2142 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2144 configASSERT( pxTimeOut );
\r
2145 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2146 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2148 /*-----------------------------------------------------------*/
\r
2150 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2152 portBASE_TYPE xReturn;
\r
2154 configASSERT( pxTimeOut );
\r
2155 configASSERT( pxTicksToWait );
\r
2157 taskENTER_CRITICAL();
\r
2159 /* Minor optimisation. The tick count cannot change in this block. */
\r
2160 const portTickType xConstTickCount = xTickCount;
\r
2162 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2163 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2164 the maximum block time then the task should block indefinitely, and
\r
2165 therefore never time out. */
\r
2166 if( *pxTicksToWait == portMAX_DELAY )
\r
2168 xReturn = pdFALSE;
\r
2170 else /* We are not blocking indefinitely, perform the checks below. */
\r
2173 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2175 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2176 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2177 It must have wrapped all the way around and gone past us again. This
\r
2178 passed since vTaskSetTimeout() was called. */
\r
2181 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2183 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2184 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2185 vTaskSetTimeOutState( pxTimeOut );
\r
2186 xReturn = pdFALSE;
\r
2193 taskEXIT_CRITICAL();
\r
2197 /*-----------------------------------------------------------*/
\r
2199 void vTaskMissedYield( void )
\r
2201 xYieldPending = pdTRUE;
\r
2203 /*-----------------------------------------------------------*/
\r
2205 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2207 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2209 unsigned portBASE_TYPE uxReturn;
\r
2212 if( xTask != NULL )
\r
2214 pxTCB = ( tskTCB * ) xTask;
\r
2215 uxReturn = pxTCB->uxTaskNumber;
\r
2225 #endif /* configUSE_TRACE_FACILITY */
\r
2226 /*-----------------------------------------------------------*/
\r
2228 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2230 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2234 if( xTask != NULL )
\r
2236 pxTCB = ( tskTCB * ) xTask;
\r
2237 pxTCB->uxTaskNumber = uxHandle;
\r
2241 #endif /* configUSE_TRACE_FACILITY */
\r
2244 * -----------------------------------------------------------
\r
2246 * ----------------------------------------------------------
\r
2248 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2249 * language extensions. The equivalent prototype for this function is:
\r
2251 * void prvIdleTask( void *pvParameters );
\r
2254 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2256 /* Stop warnings. */
\r
2257 ( void ) pvParameters;
\r
2261 /* See if any tasks have been deleted. */
\r
2262 prvCheckTasksWaitingTermination();
\r
2264 #if ( configUSE_PREEMPTION == 0 )
\r
2266 /* If we are not using preemption we keep forcing a task switch to
\r
2267 see if any other task has become available. If we are using
\r
2268 preemption we don't need to do this as any task becoming available
\r
2269 will automatically get the processor anyway. */
\r
2272 #endif /* configUSE_PREEMPTION */
\r
2274 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2276 /* When using preemption tasks of equal priority will be
\r
2277 timesliced. If a task that is sharing the idle priority is ready
\r
2278 to run then the idle task should yield before the end of the
\r
2281 A critical region is not required here as we are just reading from
\r
2282 the list, and an occasional incorrect value will not matter. If
\r
2283 the ready list at the idle priority contains more than one task
\r
2284 then a task other than the idle task is ready to execute. */
\r
2285 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2290 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2292 #if ( configUSE_IDLE_HOOK == 1 )
\r
2294 extern void vApplicationIdleHook( void );
\r
2296 /* Call the user defined function from within the idle task. This
\r
2297 allows the application designer to add background functionality
\r
2298 without the overhead of a separate task.
\r
2299 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2300 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2301 vApplicationIdleHook();
\r
2303 #endif /* configUSE_IDLE_HOOK */
\r
2305 /* This conditional compilation should use inequality to 0, not equality
\r
2306 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2307 user defined low power mode implementations require
\r
2308 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2309 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2311 portTickType xExpectedIdleTime;
\r
2313 /* It is not desirable to suspend then resume the scheduler on
\r
2314 each iteration of the idle task. Therefore, a preliminary
\r
2315 test of the expected idle time is performed without the
\r
2316 scheduler suspended. The result here is not necessarily
\r
2318 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2320 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2322 vTaskSuspendAll();
\r
2324 /* Now the scheduler is suspended, the expected idle
\r
2325 time can be sampled again, and this time its value can
\r
2327 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2328 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2330 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2332 traceLOW_POWER_IDLE_BEGIN();
\r
2333 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2334 traceLOW_POWER_IDLE_END();
\r
2337 ( void ) xTaskResumeAll();
\r
2340 #endif /* configUSE_TICKLESS_IDLE */
\r
2343 /*-----------------------------------------------------------*/
\r
2345 #if configUSE_TICKLESS_IDLE != 0
\r
2347 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2349 eSleepModeStatus eReturn = eStandardSleep;
\r
2351 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2353 /* A task was made ready while the scheduler was suspended. */
\r
2354 eReturn = eAbortSleep;
\r
2356 else if( xYieldPending != pdFALSE )
\r
2358 /* A yield was pended while the scheduler was suspended. */
\r
2359 eReturn = eAbortSleep;
\r
2363 #if configUSE_TIMERS == 0
\r
2365 /* The idle task exists in addition to the application tasks. */
\r
2366 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2368 /* If timers are not being used and all the tasks are in the
\r
2369 suspended list (which might mean they have an infinite block
\r
2370 time rather than actually being suspended) then it is safe to
\r
2371 turn all clocks off and just wait for external interrupts. */
\r
2372 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2374 eReturn = eNoTasksWaitingTimeout;
\r
2377 #endif /* configUSE_TIMERS */
\r
2382 #endif /* configUSE_TICKLESS_IDLE */
\r
2383 /*-----------------------------------------------------------*/
\r
2385 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2387 unsigned portBASE_TYPE x;
\r
2389 /* Store the task name in the TCB. */
\r
2390 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2392 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2394 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2395 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2396 string is not accessible (extremely unlikely). */
\r
2397 if( pcName[ x ] == 0x00 )
\r
2403 /* Ensure the name string is terminated in the case that the string length
\r
2404 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2405 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2407 /* This is used as an array index so must ensure it's not too large. First
\r
2408 remove the privilege bit if one is present. */
\r
2409 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2411 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2414 pxTCB->uxPriority = uxPriority;
\r
2415 #if ( configUSE_MUTEXES == 1 )
\r
2417 pxTCB->uxBasePriority = uxPriority;
\r
2419 #endif /* configUSE_MUTEXES */
\r
2421 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2422 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2424 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2425 back to the containing TCB from a generic item in a list. */
\r
2426 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2428 /* Event lists are always in priority order. */
\r
2429 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2430 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2432 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2434 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2436 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2438 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2440 pxTCB->pxTaskTag = NULL;
\r
2442 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2444 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2446 pxTCB->ulRunTimeCounter = 0UL;
\r
2448 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2450 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2452 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2454 #else /* portUSING_MPU_WRAPPERS */
\r
2456 ( void ) xRegions;
\r
2457 ( void ) usStackDepth;
\r
2459 #endif /* portUSING_MPU_WRAPPERS */
\r
2461 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2463 /* Initialise this task's Newlib reent structure. */
\r
2464 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2466 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2468 /*-----------------------------------------------------------*/
\r
2470 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2472 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2476 /* If null is passed in here then we are deleting ourselves. */
\r
2477 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2479 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2482 #endif /* portUSING_MPU_WRAPPERS */
\r
2483 /*-----------------------------------------------------------*/
\r
2485 static void prvInitialiseTaskLists( void )
\r
2487 unsigned portBASE_TYPE uxPriority;
\r
2489 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2491 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2494 vListInitialise( &xDelayedTaskList1 );
\r
2495 vListInitialise( &xDelayedTaskList2 );
\r
2496 vListInitialise( &xPendingReadyList );
\r
2498 #if ( INCLUDE_vTaskDelete == 1 )
\r
2500 vListInitialise( &xTasksWaitingTermination );
\r
2502 #endif /* INCLUDE_vTaskDelete */
\r
2504 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2506 vListInitialise( &xSuspendedTaskList );
\r
2508 #endif /* INCLUDE_vTaskSuspend */
\r
2510 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2512 pxDelayedTaskList = &xDelayedTaskList1;
\r
2513 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2515 /*-----------------------------------------------------------*/
\r
2517 static void prvCheckTasksWaitingTermination( void )
\r
2519 #if ( INCLUDE_vTaskDelete == 1 )
\r
2521 portBASE_TYPE xListIsEmpty;
\r
2523 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2524 too often in the idle task. */
\r
2525 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2527 vTaskSuspendAll();
\r
2528 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2529 ( void ) xTaskResumeAll();
\r
2531 if( xListIsEmpty == pdFALSE )
\r
2535 taskENTER_CRITICAL();
\r
2537 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2538 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2539 --uxCurrentNumberOfTasks;
\r
2542 taskEXIT_CRITICAL();
\r
2544 prvDeleteTCB( pxTCB );
\r
2548 #endif /* vTaskDelete */
\r
2550 /*-----------------------------------------------------------*/
\r
2552 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2554 /* The list item will be inserted in wake time order. */
\r
2555 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2557 if( xTimeToWake < xTickCount )
\r
2559 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2560 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2564 /* The wake time has not overflowed, so we can use the current block list. */
\r
2565 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2567 /* If the task entering the blocked state was placed at the head of the
\r
2568 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2570 if( xTimeToWake < xNextTaskUnblockTime )
\r
2572 xNextTaskUnblockTime = xTimeToWake;
\r
2576 /*-----------------------------------------------------------*/
\r
2578 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2582 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2583 the implementation of the port malloc function. */
\r
2584 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2586 if( pxNewTCB != NULL )
\r
2588 /* Allocate space for the stack used by the task being created.
\r
2589 The base of the stack memory stored in the TCB so the task can
\r
2590 be deleted later if required. */
\r
2591 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2593 if( pxNewTCB->pxStack == NULL )
\r
2595 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2596 vPortFree( pxNewTCB );
\r
2601 /* Just to help debugging. */
\r
2602 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2608 /*-----------------------------------------------------------*/
\r
2610 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2612 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2614 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2615 unsigned portBASE_TYPE uxTask = 0;
\r
2617 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2619 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2621 /* Populate an xTaskStatusType structure within the
\r
2622 pxTaskStatusArray array for each task that is referenced from
\r
2623 pxList. See the definition of xTaskStatusType in task.h for the
\r
2624 meaning of each xTaskStatusType structure member. */
\r
2627 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2629 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2630 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2631 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2632 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2633 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2635 #if ( configUSE_MUTEXES == 1 )
\r
2637 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2641 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2645 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2647 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2651 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2655 #if ( portSTACK_GROWTH > 0 )
\r
2657 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2661 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2667 } while( pxNextTCB != pxFirstTCB );
\r
2673 #endif /* configUSE_TRACE_FACILITY */
\r
2674 /*-----------------------------------------------------------*/
\r
2676 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2678 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2680 unsigned short usCount = 0U;
\r
2682 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2684 pucStackByte -= portSTACK_GROWTH;
\r
2688 usCount /= sizeof( portSTACK_TYPE );
\r
2693 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2694 /*-----------------------------------------------------------*/
\r
2696 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2698 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2701 unsigned char *pcEndOfStack;
\r
2702 unsigned portBASE_TYPE uxReturn;
\r
2704 pxTCB = prvGetTCBFromHandle( xTask );
\r
2706 #if portSTACK_GROWTH < 0
\r
2708 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2712 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2716 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2721 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2722 /*-----------------------------------------------------------*/
\r
2724 #if ( INCLUDE_vTaskDelete == 1 )
\r
2726 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2728 /* This call is required specifically for the TriCore port. It must be
\r
2729 above the vPortFree() calls. The call is also used by ports/demos that
\r
2730 want to allocate and clean RAM statically. */
\r
2731 portCLEAN_UP_TCB( pxTCB );
\r
2733 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2734 the task to free any memory allocated at the application level. */
\r
2735 vPortFreeAligned( pxTCB->pxStack );
\r
2736 vPortFree( pxTCB );
\r
2739 #endif /* INCLUDE_vTaskDelete */
\r
2740 /*-----------------------------------------------------------*/
\r
2742 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2744 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2746 xTaskHandle xReturn;
\r
2748 /* A critical section is not required as this is not called from
\r
2749 an interrupt and the current TCB will always be the same for any
\r
2750 individual execution thread. */
\r
2751 xReturn = pxCurrentTCB;
\r
2756 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2757 /*-----------------------------------------------------------*/
\r
2759 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2761 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2763 portBASE_TYPE xReturn;
\r
2765 if( xSchedulerRunning == pdFALSE )
\r
2767 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2771 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2773 xReturn = taskSCHEDULER_RUNNING;
\r
2777 xReturn = taskSCHEDULER_SUSPENDED;
\r
2784 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2785 /*-----------------------------------------------------------*/
\r
2787 #if ( configUSE_MUTEXES == 1 )
\r
2789 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2791 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2793 /* If the mutex was given back by an interrupt while the queue was
\r
2794 locked then the mutex holder might now be NULL. */
\r
2795 if( pxMutexHolder != NULL )
\r
2797 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2799 /* Adjust the mutex holder state to account for its new priority. */
\r
2800 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2802 /* If the task being modified is in the ready state it will need to
\r
2803 be moved into a new list. */
\r
2804 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2806 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2808 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2811 /* Inherit the priority before being moved into the new list. */
\r
2812 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2813 prvAddTaskToReadyList( pxTCB );
\r
2817 /* Just inherit the priority. */
\r
2818 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2821 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2826 #endif /* configUSE_MUTEXES */
\r
2827 /*-----------------------------------------------------------*/
\r
2829 #if ( configUSE_MUTEXES == 1 )
\r
2831 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2833 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2835 if( pxMutexHolder != NULL )
\r
2837 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2839 /* We must be the running task to be able to give the mutex back.
\r
2840 Remove ourselves from the ready list we currently appear in. */
\r
2841 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2843 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2846 /* Disinherit the priority before adding the task into the new
\r
2848 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2849 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2850 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2851 prvAddTaskToReadyList( pxTCB );
\r
2856 #endif /* configUSE_MUTEXES */
\r
2857 /*-----------------------------------------------------------*/
\r
2859 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2861 void vTaskEnterCritical( void )
\r
2863 portDISABLE_INTERRUPTS();
\r
2865 if( xSchedulerRunning != pdFALSE )
\r
2867 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2871 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2872 /*-----------------------------------------------------------*/
\r
2874 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2876 void vTaskExitCritical( void )
\r
2878 if( xSchedulerRunning != pdFALSE )
\r
2880 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2882 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2884 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2886 portENABLE_INTERRUPTS();
\r
2892 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2893 /*-----------------------------------------------------------*/
\r
2895 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2897 void vTaskList( signed char *pcWriteBuffer )
\r
2899 xTaskStatusType *pxTaskStatusArray;
\r
2900 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2906 * This function is provided for convenience only, and is used by many
\r
2907 * of the demo applications. Do not consider it to be part of the
\r
2910 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2911 * uxTaskGetSystemState() output into a human readable table that
\r
2912 * displays task names, states and stack usage.
\r
2914 * vTaskList() has a dependency on the sprintf() C library function that
\r
2915 * might bloat the code size, use a lot of stack, and provide different
\r
2916 * results on different platforms. An alternative, tiny, third party,
\r
2917 * and limited functionality implementation of sprintf() is provided in
\r
2918 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2919 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2920 * snprintf() implementation!).
\r
2922 * It is recommended that production systems call uxTaskGetSystemState()
\r
2923 * directly to get access to raw stats data, rather than indirectly
\r
2924 * through a call to vTaskList().
\r
2928 /* Make sure the write buffer does not contain a string. */
\r
2929 *pcWriteBuffer = 0x00;
\r
2931 /* Take a snapshot of the number of tasks in case it changes while this
\r
2932 function is executing. */
\r
2933 uxArraySize = uxCurrentNumberOfTasks;
\r
2935 /* Allocate an array index for each task. */
\r
2936 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2938 if( pxTaskStatusArray != NULL )
\r
2940 /* Generate the (binary) data. */
\r
2941 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2943 /* Create a human readable table from the binary data. */
\r
2944 for( x = 0; x < uxArraySize; x++ )
\r
2946 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2948 case eReady: cStatus = tskREADY_CHAR;
\r
2951 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2954 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2957 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2960 default: /* Should not get here, but it is included
\r
2961 to prevent static checking errors. */
\r
2966 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2967 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2970 /* Free the array again. */
\r
2971 vPortFree( pxTaskStatusArray );
\r
2975 #endif /* configUSE_TRACE_FACILITY */
\r
2976 /*----------------------------------------------------------*/
\r
2978 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2980 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2982 xTaskStatusType *pxTaskStatusArray;
\r
2983 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2984 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2989 * This function is provided for convenience only, and is used by many
\r
2990 * of the demo applications. Do not consider it to be part of the
\r
2993 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
2994 * of the uxTaskGetSystemState() output into a human readable table that
\r
2995 * displays the amount of time each task has spent in the Running state
\r
2996 * in both absolute and percentage terms.
\r
2998 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2999 * function that might bloat the code size, use a lot of stack, and
\r
3000 * provide different results on different platforms. An alternative,
\r
3001 * tiny, third party, and limited functionality implementation of
\r
3002 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3003 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3004 * a full snprintf() implementation!).
\r
3006 * It is recommended that production systems call uxTaskGetSystemState()
\r
3007 * directly to get access to raw stats data, rather than indirectly
\r
3008 * through a call to vTaskGetRunTimeStats().
\r
3011 /* Make sure the write buffer does not contain a string. */
\r
3012 *pcWriteBuffer = 0x00;
\r
3014 /* Take a snapshot of the number of tasks in case it changes while this
\r
3015 function is executing. */
\r
3016 uxArraySize = uxCurrentNumberOfTasks;
\r
3018 /* Allocate an array index for each task. */
\r
3019 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3021 if( pxTaskStatusArray != NULL )
\r
3023 /* Generate the (binary) data. */
\r
3024 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3026 /* For percentage calculations. */
\r
3027 ulTotalTime /= 100UL;
\r
3029 /* Avoid divide by zero errors. */
\r
3030 if( ulTotalTime > 0 )
\r
3032 /* Create a human readable table from the binary data. */
\r
3033 for( x = 0; x < uxArraySize; x++ )
\r
3035 /* What percentage of the total run time has the task used?
\r
3036 This will always be rounded down to the nearest integer.
\r
3037 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3038 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3040 if( ulStatsAsPercentage > 0UL )
\r
3042 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3044 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3048 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3049 printf() library can be used. */
\r
3050 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3056 /* If the percentage is zero here then the task has
\r
3057 consumed less than 1% of the total run time. */
\r
3058 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3060 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3064 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3065 printf() library can be used. */
\r
3066 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3071 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3075 /* Free the array again. */
\r
3076 vPortFree( pxTaskStatusArray );
\r
3080 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3081 /*-----------------------------------------------------------*/
\r
3083 portTickType uxTaskResetEventItemValue( void )
\r
3085 portTickType uxReturn;
\r
3087 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3089 /* Reset the event list item to its normal value - so it can be used with
\r
3090 queues and semaphores. */
\r
3091 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3095 /*-----------------------------------------------------------*/
\r
projects / freertos / blob